Control arrangements for craft operable in space



Mar-ch25, 1958 K. A. OPLINGER ETAL 2,827,789

CONTROL ARRANGEMENTS FOR CRAFT OPERABLE IN SPACE 6 Sheets-Sheet 1 Original Filed Dec. 16, 1953 Altitude Rate Control l I l l I r l 1 l l I l l Transient Rate of Climb or Constant Altitude Feed buck Clrcuits Elevo tor Servo Pitch Rota Gyro Control Circuits Feedback Circuits Roll Coordination Pendulum Control- Circuits Feedback CIrcuits Aileron Coordinator Gyro-Control Unit Control Circuits Servo Rudder Servo Fig.l

INVENTORS Kirk A. Oplinger 8 Ivor M. Hollidoy. Y

' ATTORNEY.

March 25, 1958 K. A. OPLINGE'R ETAL v 2,82 ,7

CONTROL ARRANGEMENTS FOR CRAFT OPERABLE IN SPACE Original Filed Dec. 16, 1953 6 Sheets-sheet 2 no qp mss asgmg uoog Gyro

A.C Supply INVENTORS Kirk A.. Oplinger 8| Ivor M. Hollidoy.

WW5. W

ATTORN EY .lomagpul UOHOEJQO M h 1958 K. A. OPLINGER ETAL 2,827,789

CONTROL ARRANGEMENTS FOR CRAFT OPERABLE IN SPACE Original Filed Dec.

6 Sheets-Sheet 3 INVENTORS Kirk A. Oplinger 8 Ivor M. Hollido BY ATTORNEY March 25,1958 K. A. OPUNGER ET AL 2,827,789

CONTROL ARRANGEMENTS FOR CRAFT OPERABLE IN SPACE 6 Sheets-Sheet 4 Original Filed Dec. 16, 1953 H HHHHHHH I H IHU I INVENTORS Klrk A. Oplinger 8 Ivor BY M. Hol lidoy.

ATTORNEY M 1953 K. A. OPLINGER ET AL 2,

CONTROL ARRANGEMENTS FOR CRAFT VOPERABLE IN SPACE Original Filed Dec. 16, 1953 a Sheets-Sheet s Fig.8.

INVENTORS Kirk A. Oplinger 8| Ivor M. HoHidoy, Wz W ATTORN EY March 25, 1958 K. A. OPLINGER ETAL 2,827,789

CONTROL ARRANGEMENTS FOR CRAFT OPERABLE IN SPACE 6 Sheets-sheet 6 Original Filed Dec. 16, 1953 -LAR Fig.l

INVENTORS Ki rk A. Oplinger a Ivor M. Hollidoy.

ATTORNEY United States Patent CONTROL ARRANGEMENTS FOR CRAFT OPERABLE 1N SPACE Kirk A. Oplinger, Verona, Pa., and Ivar M. Holliday,

Venice, Calif., assignors to Westinghouse Electric Corporation, East Pittsburgh, Pa., a corporation of Pennsylvania Division of application Serial No. 398,565, December 16, 1953. This application April 27, 1955, Serial No. 504,136

6 Claims. (Cl. 745.4)

This invention relates generally to systems of control for craft operable in space.

This application is a division of a copending application of K. A. Oplinger and I. M. Holliday, Serial No. 398,565 filed December 16, 1953, entitled Control Arrangements for Craft Operable in Space and assigned to the assignee of this invention.

The invention is herein illustrated and described as applied in the control of a conventional aircraft utilizing rudders, elevators and ailerons, respectively, for controlling the craft directionally, longitudinally, and laterally. However, it will be appreciated that the invention may be applied to other types of craft utilzing means other than the control surfaces mentioned for effecting maneuverability.

In order that the present invention may be fully appreciated, it is essential that the fundamental principles of flight control of fixed wing aircraft be understood.

The control of an aircraft may be resolved about three substantially mutually perpendicular axes, one is a vertical axis termed the turn or yaw axis, about which the turning or yawing movement of the craft takes place, such movement being effected by the application of left or right rudder for a turn to the left or to the right. A second axis disposed longitudinally of the craft and perpendicular to the mentioned vertical axis is termed the roll axis about which the aircraft rotates. Angular movement of the aircraft about the roll axis is controlled by the ailerons which are simultaneously operated in opposite directions, that is, one moves up as the other moves down to produce cumulative torques about the roll axis. The third axis passes laterally of the aircraft perpendicular to the aforenamed axis at the point of intersection thereof and is termed the pitch axis of the craft. Control of the craft about the pitch axis for climb, a dive or for level flight is afforded by the elevators which tilt the craft about the pitch axis to change the angle of attack of the Wing and as a consequence the direction of flight of the craft in a vertical plane.

In still air, when the aircraft is oriented so that its roll and pitch axes are horizontal, it will tend to follow a course which is a projection of the roll axis or longitudinal axis but whenever the craft is rotated about one or more of the three control axes either by the application of one or more of its control surfaces or by air disturbances, the flight path as a rule changes.

It is important to note, and this is particularly true of the ailerons, that the position of the control surfaces does not determine the position of the aircraft about any of the control axes but rather determines the velocity of rotational movement of the craft about the corresponding axis. Thus in some instances in maneuvering the craft, it is necessary to perform double operations in the application of the control surfaces. In a simple turn, for instance, first the application of the control surfaces is made in a direction to cause the craft to assume the desired attitude in flight after which the ailerons are usually returned to a neutral or stream- 2,827,789 Patented Mar. 25, 1958 lined position and the rudder and elevators streamlined to a lesser extent. A return to level flight may then be effected by a reverse movement of the ailerons and movement of the rudder and elevators to their neutral positions.

Ordinarily, to properly execute a turn in an aircraft, it is essential that movement of the control surfaces be coordinated. Too much rudder will cause the craft to skid outwardly in a turn. Too much aileron will cause side slipping while insuflicient application or over-appli cation of the elevators during a turn will tend to cause, respectively, diving, and to a lesser degree, climbing.

In addition to the above-described proportioning of control surface movement which must be effected for coordination in a turn, there is also the consideration of suitable time delays, dependent upon aerodynamic coupling in the application or removal of rudder and elevators in the execution of simple turns. The ability of an aircraft to be turned by simple application of the rudder alone depends in some measure upon its aerodynamics. An inherently stable craft, upon the application of rudder and the skidding movement which follows, will tend to accumulate the bank angle necessary for equilibrium in the turn indicated by the setting of the rudder. However, in any case, a coordinated turn may not be executed satisfactorily in the absence of a bank angle.

Thus for a coordinated turn, it will be appreciated that the application of the rudder should be proportional to the angle of bank for a particular air speed and should be applied no more rapidly than, or should substantially follow, the angle of bank as the bank angle for the desired turn is accumulated. Suitable coordination of movement of the ailerons and rudder in certain types of craft therefore requires an application of the ailerons to produce a velocity of rolling movement about the roll axis to the desired angle of bank and the application of the rudder to produce the necessary tum velocities indicated by the instantaneous angles of bank or, stated otherwise, provides for an application of the rudder such that at a given air speed the turn velocity indicated by the position of the rudder corresponds to that for the instant angle of bank.

The considerations involved in the control of the elevators are analogous to those for the control of the rudder. Premature application of the elevators when entering a turn willcause the aircraft to climb while premature removal thereof while coming out of a turn will cause the aircraft to dive. The application of up-elevator for a turn in either direction compensates the loss in projected wing area for a given angle of bank by increasing the angle of attack of the wing to increase the lift and additionally introduces the needed pitch rate component of turn rate which increases with bank angle. Thus the angle of bank also indicates the pitch velocity of the aircraft in a turn and coordination of control at a given air speed requires that up-elevator be applied and removed as the angle of bank is increased or decreased.

The time delay in acquiring a given bank angle depends upon the characteristics of the particular aircraft.

In general, the larger the aircraft the longer will be the time delay. Additionally at a given air speed, this delay will vary depending upon the degree of application of the ailerons which determines the roll velocity.

For fixed course control, an important function of an aircraft flight control system or automatic pilot is to fly the aircraft straight and level at a given altitude. To this end, the control must be quick to sense minor departures from fixed reference positions and/or to sense velocities about any of the three principal control axes to maintain a predetermined mode of operation.

Control systems intended to accomplish this end usually include gyroscopes to detect errors in flight from the predetermined flight pattern. Such gyroscopes in the past have been of the positign type, that is, gyrosco'pe's disposed on the aircraft to detect changes in flight attitude .and producesignals which, when applied to suitable servo systems operating the control surfaces, restore the craft to the desired flight attitude. Two types of position gyroscopes are usu ally employed in such controls. One is a direcitional gyroscope which is oriented in the airc'raftin such a way asto detect changes in the direction of flight of the aircraft.- The second one is usually referred to as avertigal reference gyroscope which is disposed to detect or measure angular position deviations of the aircraft from the horizontal about the roll and pitch axes. 'Gyroscopes of theposition type,-however, by reason of their mounting have only a limited degree of angular freedom about a .givenareference position and hence limit ,thefmaneuverabilityofthecraft when the control is in operation. If the maneuverability limit about a given axis is exceeded, the gimbal mounting of the gyroscope: forces the gyro rotdr.assembly around in rotation withthe aircraft about 1 6 givenaxis and the precessional response of the gyroscoperesults in" tumbling rendering the automatic pilot u ss I 7 To1obviate such a limitation of control and obtain un- 1imit ed,maneuverability and at the same time to provide a control system which detects velocity. errors about the control axis rather than position errors, to achieve a faster and more sensitive control, this invention employs gyroscopes of the rate type fordetecting angular velocities about eaeh of'thethreeprincipal control axes and for producingjelectrical quantitiesindicative of such velocities for. controlling the corresponding servo system and, hence controlling the aircraft about the corresponding axis "In. this fundamental aspect,zthis invention is related to all;S LettersPatent of Clinton R. Hanna, No. 2,63 8,- 288, issued May-l2fl953 and entitled Control System for Craft Operable in Space and assigned to the assignee f' hhinve Q V a is invention provides certain improvements in the fundamental control of the'above-identified invention of Clinton :1}, Hanna, whereby, according to one of its Y A: I 2,827,789 r V laspects the system may be controlled by a flight controller having three degrees of angular freedom, corresponding to the principal control axes of the aircraft, to achieve unlimited maneuverabilityof the aircraft.

- Rate gyroscopes are' ideal for an application of this type and to thisend thegyroscopes, which arethree in number, onefor eachprincipal axis of'control, are re-' strained; in theirprecessional response to input torques due to velocities, about the corresponding control axis of the craft, ;Thus these gyroscopes which have a restrained single degree of{freedom1of output movement are unable to tumblefrom operating Lposition regardless of the man ner in whichthe craftis controlled. The minute'precess nal movements of eachof the gyroscopes result in preces onaLtorques ordisplacements which by suitable elecl pick-ofi devices. are. converted toelectrical signals w h;control the servo mechanisms for the respective cgntrol surfaces: '1 d v 1 In practicing this invention several modesof system operation are provided including, a Standby'mode, a fcruise, mode and a Boostfmode. In an aircraft flown A by conventional controls, for instance, control stick and rudder, pedals, a separate flight controller havingthree egrees of angular freedom may be utilized to control the autopilot orthe servo system of the craft. A selector switch is provided which is operable from an Oflf position through successive positions which success ively select the operating modes identified above. In operation the selector switch is moved from Off position to Standby. position. This establishes the basic energization circuits for the automatic pilot and servos, providing a time interval'for warmup in whichthe gyr999pq rotors are brought up to operating speed and other units such as generators are started. The duration of this interval, of course, depends upon the longest warmup period required by a system component and the selector switch may be mechanically or electrically interlocked so that positive timing out of this interval is always provided.

Additionally, circuits are establishedbetween the flight controller and therespective servo or control surfaces for controlling small motors used to drive the flight controller. This is a sort of followup mode of motor control which synchronizes the flight controller and, hence, the autopilot, by moving the flightcontroller to a position corresponding to its command position for achieving that control surface deflection. 5

Once the warmup interval is ended the system may be switched to the Cruise, mode or through the Cruise mode.

to the Boost mode.

In the Cruise mode the autopilot yaw channel is slaved to the compass of the aircraft which superimposesyaw directivity on the yaw-rate sense, the'pitch channel is slaved to an altitude-rate control which adds a vertical position sense to the pitch rate sense, and, the roll channel is slaved to, a pendulous device, that is, a bank or roll pendulum, responsive to lateral acceleration and roll angle which adds the apparent vertical sense to. the'rol rate sense inthe r'oll channel i Thefunction of the system inthe Cruise mode of operation is that of maintaining the craft in essentially straight and level flight along a fixed course determined by the human pilot by his setting of the compass, the angular rate sensing components of the system providing rate stabilization through anticipation and dafh'pinginfeachof the three degrees of angular freedom of. the" aircraft. Additionally the pendulous device and the altitude-rate controhprovidecontrols which respectively minimize lateral and verticalexcursions. V a

While in the Cruise mode. the human pilot mayoverride the autopilot ,to change the fiight' attitudein any one orall' of the three degrees of motion by suitable actuation ofthe flight controller. For example,*to make a coordinated turn the human pilot need only rotate the flight controller stick about theproperg'neof its three axes of freedom. .Inone application this may be the vertical axis or yaw axis of the stick. In yet another application this maybe "the longitudinal or rollaxis of the stick; The angular position of the flight controller, due to the rate sense of the autopilot then commands a given turn rate which is established andcoo'rdinated by the autopilot.--Angular'displacement ofthe flight controllerfor a coordinated turn'removes the compass slaving and establishes connections to automatically reset the compass system as 'the'c'oursechaiiges so that upon return off'the flight :co'nt'roll'er.to neutral the new heading or courseis maintained. j 'Ihe human pilot ma also change altitude while in theCr'uise-"modwhether following a" compass course or executing 'a'coo'rdinated'turn by rotation of the flight.

controller about another axis, forv instance, by moving the flight fcohtroll'er fore on aft about an athwartship axis;v Such'fiiglit'controller displacement removes the altitudeslaving in the 'p'itch channelf :The angula'r posi non er the flight controller now commands an angular nels'. .Inthis jmodefflight coordination is accomplished by. the human pilot tanger n same manner aS WiKlJ. the onventional controls, excepting that the operation is lsnanrenurs' re uhhannlra-tsnn sss ctforsc on the piloting element or stick of the flight controller. this mode the instant position of the flight controller commands angular rates about the respective control axes, as in the Cruise mode, through the power amplification of the servo system. I I a One object of this invention is to provide a control for a craft operable in space which is simple in principle, involves a minimum number of parts and is positive in operation. 7 a ,7 I

An additional object of this invention is to provide a system of control for a body operable in space which is compact in design and lightin weight. a Another object of this inventionis to providea system of flight control for an aircraft which is selectively operable in one condition of operation to maintain the craft in coordinated flight and under anothercondition of operation to afford unlimited maneuverability of the craft.

It is also an object of this invention to provide a system of the class referred to in the preceding object which is controlled by a flight controller having three degrees of angular freedom corresponding to the principle control axes of the craft.

.Yet anotherobject of this invention is to provide a system of the character referred to involving gyroscopes in which the gyroscopes cannot tumble.

Still another object of this invention is to provide 'a system of the type mentioned in which velocity sensing gyroscopes are employed to detect velocities of motion about the three principal axes of control of the aircraft.

In another of its aspects it is an objectof thisinvention to provide an improved lateral rate autopilot.

In connection with the preceding object it'is an object hereof to provide an improved roll rate gyroscope assembly.

More specifically it is an object of this invention to provide a roll rate gyroscope having in addition to a roll-rate sense a selectively applied sensitivity to lateral accelerations and roll angle.

In still another of its aspects it is a further object of this invention to provide a flight control system for craft operable in space wherein the control system may always be utilized to control the craft regardless of the maneuverability requirements thereby functioning, in effect, as a power boost between a human pilot operated flight controller and the control surfaces.

More specifically, it is an object of this invention to provide a flight control system of the character referred to in the preceding object, wherein rate response to movement of a flight controller is obtained and power boost control of the crafts control surfaces is had.

In a generalized sense, it is'an object of this invention to provide an aircraft flight control system selectively affording coordinated control of the craft and maneuver control of the craft from a flight controller.

Further to the preceding object, it is also an object of this invention to provide a flight controller for use in a flight control system for an aircraft, the movable member of which may be automatically positioned by the flight control system in accordance with the position of the standard or conventional controls of the craft.

In connection with the preceding object, it'is also an object of this invention to provide a novel type of flight controller having three degrees of angular freedom.

, More specifically it is an object hereof to provide a flight controller in which means are provided for detecting and/or indicating a given angular position in each of the three degrees of angular freedom.

A specific object of this invention is to provide a flight controller having magnetically operated detent means restraining angular movement of the movable member in a given position in at least one of the angular degrees of freedom.

Further to the preceding object it is an object of this invention to provide arrangementswherein during a coordinated turn the aircraft may be caused to climb or dive.

h The foregoing statements are merely illustrative of the various aims and objects of this invention. Other objects and advantages will become apparent upon a study of the following specification when considered in conjunction with the accompanying drawings, inwhich:

Figure 1 is a diagrammatic illustration of a flight control system for a craft operable in space including certain of the novel features of this invention; 7 ,7

Figs. 2A and 2B together illustrate in detail the flight control system of this invention; A

Fig. 3 is a top view of a flight controller with the cover removed of the type employed in the sysetm of Figs. 2A and 2B; 7

Fig. 4 is a sectional view taken on the line IV-JV of Fig. 3 and illustrating the cover and operating handle in position;

Fig. 5 is a fragmentary view of the movable components of the flight controller as seen looking in at the controller along the line V-V of Fig. 3;

Fig. 6 is a view looking in at the right side of Fig. 4 with the cover removed; a

Fig. 7 is a fragmentary detail showing a detent operated switch forming a part of the flight controller;

Fig. 8 is a detailed illustration of asubassembly of the movable elements of the flight controller;

Fig. 9 is a sectional view taken on the line IXIX of Fig. 8; I I

Fig. 10 is a view of the right side of the subassembly shown in Fig. 8;

Fig. 11 is a top view of the roll-rate gyroscope of this invention; a

Fig. 12 is a side view, fragmentarily in section, of the assembly of Fig. 11; 7 I

Fig. 13 is a view looking in at the right side of the assembly as seen in Fig. 11 with certain parts broken y;

Fig. 14 is a complete view looking in at the right side of the assembly of Fig. 11; and

Fig. 15 is a sectional view of a type of magnetic biasing control arrangement for the bank rate gyroscope and which is typical of the biasing magnet system for all of the gyroscopes.

The automatic pilot system of this invention is diagrammatically illustrated in Fig. 1 and embodies a flight controller generally designated FC having a manually operated control stick CS which is mounted in the flight controller for three degrees of angular freedom. The respective modes of operation of the systci namely, Standby, Cruise and Boost, are established by means of a selector switch not shown in this figure in the interest of simplicity. The principal control connections in the Cruise modeof operation are indicated by the dotted lines between the respective system elements and the control connections in the Boost mode are indicated by the dash lines between the system elements. The solid lines represent circuits which function in both modes of aircraft control, namely, Cruise and Boost. v, V

In the Cruise mode during fixed course operatiomthe system is controlled by the output of a course control unit generally designated CU. Through suitable contr ol connections in the flight controller, the output of the cour'se control unit is applied to a yaw rate gyroscope generally designated YG to control the output of this gyroscope and, hence, control the rudder in such a way as to hold the aircraft on a fixed course. The yaw-rate gyro YG may be of a type illustrated in U. S. Patent 2,638,288 which has been referred to hereinbefore. This gyroscope may be referred to as a single degree of freedom gyroscope being oriented on the aircraft in such a way as to respond, that is, precess about a single output axis to angular velocity about the yawaxis of the craft A suitable electrical pickofl" on the gyroscope is utilized to the yaw gyroscope.

. 7 control the rudderservo generally designated RS which in turn is mechanically connectedto the rudder Rofthe craft. 7

The roll-rate gyroscope and pitch-rate gyroscope gen erally designated RG and PG are functionally similar to the yaw-rate gyroscope. The roll-rate gyroscope is orientedon the craft to respond to angular velocity about thelongitudinal or roll axis and the pitch-rate gyroscope is disposed onthe craft to detect angular velocity about the lateral or pitch axis. The output of the roll gyroscope controls an aileron servo AS which is mechanically connected to drive the ailerons A. Similarly the output of the pitch-rate gyroscope is connected. to control an elevator servo ES which is mechanically connected to drive the elevators E of the craft. 7 As described in the Hanna patent aforesaid, the three rate gyroscopes are resiliently restrained about their respective precession axes which in each case constitutes the single degree of freedornof the gyroscopes. The precessional movement of the respective gyroscopes about their precession axes is maintained very small and this movement is detected bya suitable electrical pickofi; For instance, the contact type shown in the aforesaid patent to Hanna, or, anyone of the well known resistive, inductive orcapacitive types of pickotfs which may be found suitable.

In the instant arrangement in the Cruise mode of operation, if an error in course occurs without any change in the pitch or roll attitudes of the craft, the course error signal appears as a torque about the precession axis of This torque and the resulting displacement produces an electrical output at the electrical pickoff of the yaw gyroscope which actuates the rudder servo, and consequently the rudder, in such sense as to return the craft to the proper course. If no other system correction occurs at this time, the craft will execute a fiat skidding turn back to the proper heading at which time the course error signal is reduced to zero and the rudder is returned to neutral position. l rile in the Cruise mode of operation, the three rate gyroscopes function essentially as velocity dampers with respect to movement about the respective control axis of the craft. Thus, angular velocity about any of the control axes is detected by the correspondiug'rate gyroscope and applied through the servo therefor to the proper control surface to check the angular velocity.

a It will be appreciated that a velocity sensing arrangement such as this has no directivity sense. As a consequence, even though the threshold of response of the V respective gyroscopes is quite low, it is possible over a period of time to accumulate angular position errors about the respective control axes-of the craft which may result in lateral and vertical displacements. It is therefore desirable in thecruise mode to introduce a sense in the yaw and roll channels which is indicative of departure of angular position of the craft from a given angularposition about the control axis associated therewithand in connection with the pitch channel to introduce a sense indicative of the position of the craft in the vertical plane.

7 With the yaw rate gyroscope this is accomplished by biasing the gyroscope about its precession axis with a sig'nal'from the course controlunit. With respect to the r'ollrate gyroscope this is accomplished by means of a horizontal pendulum which in the Cruise mode of contriol'is physically connected to the roll gyroscope to introduce mass unbalance about the precession axis. Due

' to the orientation of the precession axis of the roll gyro scopewhich substantially parallels the yaw axis of the craft, the roll pendulum RP introduces a mechanical torque'which is proportional to lateral acceleration of the craft and-also proportional to the angular departure of the craft about'the roll axis. The horizontal pendulums gravitational response in straight and level flight indicates-a departure of the'wings ofthe aircraft from horizontal position and introduces a torque about the precession axis which results in control of the ailerons in such a way as to restore the lateral'altitude of the craft to horizontal. -Ifthere-is no turn rate during the interval when the lateral altitude is displaced from horizontalysome side slipping or skidding of the craft may exist. The lateral acceleration at the time side slipping or skidding occurs is detected by the roll pendulum RP, and further controls the ailerons to restore the lateral altitude to a horizontal position'with a minimum of hunt--- ing. a a

Directivity in pitch is achieved by means of an altitude vertical rate control generally designated VRC, the

outputof which is utilized to bias the pitch-rate gyroscope PG about its precession axis. As will be described in greater detail hereinafter the VRC comprises an altitude chamber and an altitude-rate chamber. The outputs of these two chambers which are represented in mechanical deflections or forces are combined in a suitable.

electrical pickofr which in this embodiment controls the output of the pitchgyroscopc-PG.

In the Cruise modeof operation the altitude chamber is sealed at a given altitude and therefore contains air at derived at the rate chamber acts as a damper in this mode of operation: to minimize departures from and hunting of the proper altitude.

When in the Cruise mode of operation it is possible for the human pilot to override the autopilot by manipulation of the' control stick CS at the flight controller. 'For example, if the human pilot should desire to change course, he need only'rotate the control stick CS about the proper axis in order to achieve a coordinated turn; In

the instant case the control stick is rotated about its vertical axis whichis oriented in the craft to substantially parallel the yaw axis, to initiate a coordinated turn. The output signal developed at the flight controller due to this control stick rotation, is applied to a transient coordinator generally designated TC; This device which will be described in detail hereinafter in connection with'Figs. 2A, and 2B, produces two signals which are displaced'in time phase in correspondence with'the time delay of the craft in accumulating bank angle. The control is vsuch as to produce a first signal of transient nature which is utilized through the roll channelto initiate 'aileronoperation to start the aircraft rolling about its longitudinal axis. As this signal dies out, yaw and pitch signalsfare produced and utilized to control the yaw and pitch channels respectively to apply rudder. in the proper direction and to. apply-np-elevator to introduce 'the required amount of pitchvelocitytor the instant angle of bank.

The respective magnitudes of these signals and their time phase relation depends primarily upon the time constants of the aircraftwith respect to its respective control axis; These relationships may be established at the transient coordinator'TC for a particular craft. The

position of the flight controller PC commanding the coordinated turn indicates a particular turn-rate and rate regulation is obtained in ea ch of the three degrees of freedom of the craft due to gyroclynamic response of the respective gyroscopes to' the angular rates about the respective control axisofthe craftflThis response. is opposedto the biases introduced about the precession axis of the respective gyroscopes by the outputs of the transient coordinatorTC. When the oppositely acting torques, due to the biasing signals and the response of the gyroscopes to the angular rates, are in equilibrium; the turn is properly coordinated. In this operationskidiii - Ii dingor side slipping is detected and corrected by the roll pendulum RP. In an analogous sense climbing or diving during the turn is prevented by'the altitude-rate control VRC which is still connected to the pitch-rate gyroscope PG.

The control arrangement permits climbing or diving during a coordinated turn by moving the control stick CS of the flight controller PC in a second degree of'freedom, namely fore or aft, in addition to that degree producing thecoordinated turn. As an example, in the Cruise mode, if a climbing turn is desired, the stick is rotated about its vertical or yaw axis to produce the desired coordinated turn and pulled aft to introduce up-elevator in an amount exceeding that required to hold' altitude constant in the turn. Control stick displacement from neutral about the pitch axis opens the altitude chamber to atmospheric pressure, removing the altitude control. The altitude-rate sense remains to regulate altitude-rate in correspondence with the position of the stick about its pitch axis.

In the Cruise mode when a turn is commanded at the flight controller PC by rotation of, the control stick CS, provision is made by a suitable switching arrangement on the flight controller FC to disconnect the course control unit CU from the system and to establish suitable connections for causing the course control unit CU to act as a repeater and follow the changing heading of the aircraft. Hence, at such time as the control stick CS is returned to neutral position, the course control unit CU is reset for the new heading and, upon reconnection in the system holds the craft on the desired course.

Since it is possible to return the control stick to neutral position more rapidly than the aircraft will return to level flight, provision may be made to delay the connection of the course control unit CU a sufficient time to allow the craft to level ofl on the new course. Thus at the timethe course control unit CU is reconnected, the. craft is properly oriented for straight and level flight. Otherwise a few oscillations. may occur as. the course control unit CU attempts to orient the craft in yaw.

In the Boost mode of operation the instrumentalities imparting directivity to the respective channels are disconnected. This includes the course control unit CU, the roll pendulum RP and the vertical-rate control VRC. Additionally the transient coordinator TC is disconnected from the. system. Hence, the respective autopilot channels are controlled only by the output of the respective output axes of the flight controller. In this arrangement rotation of the control stick CS about a vertical axis produces an output which controls the yaw channel. Rotation of the control stick about its lateral axis, that is fore and aft movement of the control stick CS, (left and right as viewed) controls the pitch channel and lateral movement of the control stick CS about its longitudinal axis controls the roll channel. In this arrangement it will be appreciated that flight coordina tion depends upon the human pilot in much the same sense as when the pilot is flying the craft with the conventional or standard controls in the craft. If desired, the rate signal from the rate chamber of the vertical rate control VRC need not be disconnected from the pitch rate gyroscope. With such an arrangement, in the Boost mode of operation, fore and aft positions of the control stick CS will command rates of climb and dive rather than angular rates in pitch as is the case when the rate chamber is disconnected.

The foregoing discussion generally summarizes the two important operating modes of the system. These modes are selectable by a mode selector switch which is manually controlled by the human pilot. This switch and the circuitry associated therewith have not been shown in the diagrammatic illustration of Fig. l in the interest of simplicity. It will be understood however that before either of the above-described modes of operation of the system of Fig. 1 may be obtained that provision must be made for energizing theautopilot system; and providing a Warm-up period in which the various components of the system such as gyroscopes, generators and motors are brought up to operating speed and such electronic components as may be involved have been given suflicient time to be properly heated so that normal function may be obtained at the time the autopilot components are utilized. This warm-up interval is referred to herein as the Standby period and is obtained by movement of the mode selector switch from Ofl position to Standby position.

In the Standby mode ofoperation provision is also made for synchronizing the autopilot with the aircraft control surfaces. This is accomplished as will be described in detail at a later point by synchronizing the position of the control stick CS of the flight controller PC with the positions of the respective control surfaces in such a way that the position of the flight controller control stick CS corresponds to the command position of the control stick CS when the autopilot is functioning to achieve the instant control surface deflection. In accomplishing this in the present arrangement, provision is made through suitable motor means associated with the yaw and pitch axis of the flight controller to drive the flight controller FC in each of these two degrees of freedom in dependence of rudder and elevator deflection respectively. No attempt ismade to synchronize theflight controller PC about its roll axis since the ailerons are used only to initiate roll velocity to accumulate a particular bank angle and are usually streamlined at the time the bank angle is accumulated. Thus this function differs from the control required about the yaw and pitch axis wherein for a coordinated turn at a given rate suitable yaw and pitch velocities must be maintained requiring deflection of both the rudder and the elevators in suflicient amount to produce the required yaw velocity for the instant angle of bank.

Before proceeding with a detailed description of the system as illustrated in Figs. 2A and 23, this invention will be better understood by considering the details of the flight controller and the details of the roll gyroscope assembly involving the detachable roll pendulum RP.

The details of the flight controller PC are illustrated in Figs. 3 through 10. These figures illustrate only the basic elements of the flight controller including the three degree of freedom mounting of the electrical pickofls, the detent operated switches, the motors for driving the flight controller about its yaw and pitch axes and the magnetically operated center indicating detents for the yaw and pitch axis. of the flight controller PC as well as the spring centering arrangement for centering the flight controller PC about its roll axis. Additional features normally incorporated in an arrangement of this type and which are housed in a chassis section usually integrally formed with the base include suitable indicators for indicating the control surface positions, trimming potentiometers for trimming the altitude of the craft about each of its three axes of freedom and switches for controlling certain, functions of the system. Such components. have been eliminated from the showing of structural details of the flight controller FC in the interest of simplicity.

As illustrated the flight controller FC comprises a generally circular base 1 upon which a pair of diametrically spaced vertical supports 2 and 3 are mounted. Bearings 4 and 5, defining a single bearing axis XX, are mounted adjacent the upper ends of the respective vertical supports 2 and 3. A gimbal type frame 6 is journaled by bearings 4 and 5 for rotation about the bearing axis X-X and is provided with respective bearings 7 and 8 defining a bearing axis YY which is substantially displaced from the bearing axis X-X. Bearings '7 and S rotatably mount a second gimbal type frame 9 in which the. control stick CS is journaled about an axis 2-2 which is perpendicular to. the bearing axis' 11 YY. The control stick CS is therefore arranged for three degrees of angular freedom in the bearing arrangement described having freedom of movement about all of the axes X-X, Y'-Y and 2-2. The respective axes XX, Y-Y and Z--Z of the flight controller PC correspond to the roll, pitch and yaw axes of the aircraft and the arrangement of the flight controller FC in the system is such that movement of the control stick CS about the axis XX or roll axis controls the ailerons A, that movement of the control stick CS about the axis YY or pitch axis controls the elevators E and that rotation of the control stick CS about the axis Z-'Z or yaw axis controls the rudder R of the aircraft.

Movement of the control stick CS about the respective axes described controls respective electrical pickofis which are herein illustrated as potentiometer type pickoffs having movable taps actuated by-movement of the control stick. In this connection movement of the control stick CS about the roll axis X-X actuates a tap it) which is made of resilient spring material and provided with a contact at the lower end thereof which rides along an edge of'bank potentiometer BP. The upper end of the resilient tap 1G is secured to a depending bracketll extending downwardly from gimbal 6. Hence tilting of the gimbal 6 about the roll axis XX actuates the tap along the arcuate edge of the bank potentiometer BP. The bank potentiometer BP is carried by means of supports 12 'on the base 1 of the flight controller.

A pitch potentiometer PP and a climb and dive potentiometer CDP are carried in side-by-side relationship as shown in Figs. 4-, 5 and 6 on suitable taps 11a integrally formed at the lower end of bracket 11. Pitch potentiometer PP is provided with amovable tap 13 and the climb and dive potentiometer CD? is provided with a movable tap 14. Movable tap 13 is mounted at the lower end of an angle-shaped bracket 14a as seen in Fig. 6 which is secured to the bottom face of a bracket 15 depending from the gimbal Hence, as the gimbal 9 is tilted about the pitch bearing axis YY, the movable tap i3 is swept across the arcuate edge of the pitch potentiometer PP. A similar mounting is provided for a movable tap 14 of the climb and dive potentiometer CDP at the bottom end of a bracket 16 which also de pends from the gimbal 9. Consequently, this tap is also actuated with the tap 13 upon movement of the control stick CS in such a sense as to rotate the gimbal about the pitch bearing axis YY.

Turn potentiometer TPy as will be seen in Fig. 8 is secured between supports 17, only one of which is shown, which project upwardly from the depending bracket 1d of gimbal 9. The movable tap of the turn potentiometer TPy is connected to and actuated by stem 13' of the control stick CS. The turn potentiometer is concentrically located with respect to yaw axis Z-Z and the contact tip of tap y sweeps along the arcuate edge of the turn potentiometer TPy.

With this arrangement rotation of CS about any one of its three axis of freedom selectively actuates the corresponding one of the potentiometer taps. At the same time the control stick CS may be moved in such away as to simultaneously actuate all of the potentiometer taps in the required proportion, for instance, in

the Boost mode of operation of the flight control system,

to execute any maneuver within the capacities of the aircraft.

The neutral position of the control stick CS is indicated by suitable mechanical restraining means associated with each of the three axes of freedom. In connection with the roll axis XX which is the only stick axis about which motor synchronizing is not provided, the neutral position is determined by means of a restraining spring 19 which is of generally U-shaped configuration as seen in dotted outline in Fig; 6. This springis'pivot ally connected at its lower end to vertical support3 and a pair of pins 20 which are mounted at diametrically disposed the control stick 24 which is concentric with roll axis XX is provided points on'the gimbal 6 project between the forked extremities or" the U-shape spring 19. Hence, whenever the Such spring loading about the patch and yaw bearing sexes YY and Z-Z is not provided but an indication of the neutral position of the stick about these respective axes is obtained by means of magnetically operated detents generally designated 21 and 22.

Magnetic detent 21 comprises a housing 23 of mag netic material which is disposed at the upper end of the vertical support 2 and has a portion forming the bearing.

4' about which one end of gimbal 6 is journaled. A hole in the housing 23 and is adapted to receive the stem 25' or" the detent plunger, the outer end of which is provided with a plate 26 of magnetic material having a configuration corresponding to that of the housing 23. A coil 27 is disposed within the housing 23 and when energized produces a magnetic field which links the plate 26 attracting the plate towards the housing. This displaces the plunger 25 of the magnetic detent to the right, as viewed, engaging the pointed end of the detent plunger with the arcuate face of a plate 28 carried by the gimbal 9. The center of this arcuate face is about the axis YY and a suitable recess 29 is provided in this arcuate face to receive the pointed end of detent plunger 25. The force of engagement of the detent plunger 25 with recess 29 and the slope of the recess face is such that the human pilot may easily move the control stick CS about the pitch axis Y-Y through the detent position, but the restraint afforded at the detent position is such as to positively indicate to the human pilot the neutral 7 position of the stick about the YY axis.

, mounted insuitable holes 33:: in the magnetic housing 3*). Que or" the pinsynamely the pin 33 seen inFig; 8, projects through the bottom of the magnetic housing 39 and clears through a bracket 34 which mounts the magnetic housing 39 on the upper side of gimbal 9 and is adapted to ride against the upper face of a sector gear with its rotor axis vertical.

35 which is secured to the stem 18 of the control stick. The upper face of gear 35 is provided with a recess 36 adapted to receive the lower pointed end of pin 33 to thereby indicate the neutral position of the control stick about the yaw' axis Z-Z.

The synchronizing motor drives for the control stick CS about its yaw and pitch axes, namely the axes ZZ and YY, comprises respective motors TSM and PSM. In the interest of simplicity the details of these motors have not been illustrated, however, these may be small permanent magnet field, direct current'motors which are reversible in direction of rotation by reversing the armature terminal voltage. TSM is mounted beneath the upper plate of gimbal S A clearance hole is drilled through the upper plate of gimeal 9 to clear a pinion '41 which is connected or mounted on the motor shaft. The pinion ll meshes with a gear 41 having a small pinion 42 concentrically secured thereto. Smallpinion d2 meshes with gear sector 35 which as previously described is connected to the stem 18 of the control stick The turn synchronizing motor a 13 CS, which completes the drive for the control stick CS about its vertical yaw axis Z-Z.

The pitch synchronizing motor PSM is mounted on the inner face of the depending bracket 16 which is carried by the gimbal 9. The axis of rotation of motor PSM is substantially at right angles to that of the turn synchronizing motor TSM and pinion 44 which is mounted on the shaft of the pitch synchronizing motor clears through a suitable opening 45 in the depending bracket 16. Pinion 44 meshes with a gear 46 having concentrically mounted thereon a pinion 47 meshing with a gear sector 43 concentrically mounted with respect to the pitch axis Y-Y on gimbal 9. The pitch motor PSM therefore swings with the gimbal 9 about the Y-Y bearing axis.

In operation, when in neutral, the flight controller PC is preferably although not necessarily oriented in the craft with the roll axis XX paralleling the longitudinal or roll axis of the craft, with the pitch axis Y Y paralleling the pitch axis of the craft and with the yaw axis ZZ paralleling the yaw axis of the craft. In the system, rotation of the control stick CS about the yaw axis ZZ actuates the tap y of the turn command potentiometer TPy producing the turn command signal which is utilized to control the rudder R. Rotation of the control stick CS about the pitch axis Y-Y actuates the pitch and climb and dive potentiometers PP and CD1 respectively, to introduce the pitch command signal to the system and, rotation of the control stick CS about the roll axis X-X actuates the bank potentiometer BP to introduce the roll command signal into the system.

The stick mechanism is enclosed by a housing 49 having a hemispherical top provided with an opening to clear the stem 18 of the control stick CS and a control knob 50 of generally cupped shaped configuration to fit over the hemispherical upper surface of cover 49 is screwed to a flange 51 at the upper end of the stem 18 of the control stick to complete the control stick assembly. Control knob 50 is of suitable external configuration to receive the palm of the pilots hand and is of such size that the tips of the pilots fingers may ride over the edge of the control knob and contact the surface of cover 49 which steadies the pilots operation of the control stick.

The switching function for disconnecting the course control unit CU and the vertical rate control system VRC from the autopilot system as described in connection with Fig. l, is initiated in respective detent switches generally designated S and S6. These switches may be of any suitable type capable of actuation from the small movement afforded by movement of their operators in and out of the detent notches provided for their operation. Moreover the switches must require a minimum of mechanical force for operation such that movement of their actuators through detent position imposes a negligible load on the gimbal system of the flight controller so that no difficulty is encountered by the synchronizing motors TSM and PSM in driving the yaw and pitch gimbal systems of the flight controller through the switch detent positions during the Standby mode of operation of the system.

The yaw detent switch S5 is actuated by vertical movement of the magnetically operated detent assembly 33a as it moves back and forth through detent position. Switch S5 comprises a pair of normally open leaf spring contacts 53 which are moved to closed position by a bracket 54 depending from the plate which carries the detent pin 33. Inasmuch as the system provides for energization of the electromagnet of the yaw detent 22 on the, flight controller PC during the Cruise and Boost modes of operation suflicient force is available to close the contacts 53 whenever the control stick CS is in neutral position in yaw, that is when the control stick CS is in yaw detent. The closing of the contacts 53 as will be described at a later point-establishes a circuit whereby the course control'unit CU" may be disconnected from the autopilot system.

The pitch detent switch S6 may be a commercially available light dutyplunger operated switch which is normally spring biased closed. Hence, when the control stick CS is in pitch detent, provision is made through a recess-55 in the arcuate face 56 of bracket 14 to permit the pitch detent switch'S6 to close.- When the pitch detent switch is closed, the flight controller control stick CS is centered indicating that the craft is in level flight. This establishes suitable circuits which seals the altitude chamber of the vertical rate control VRC to trap air thereinat a pressure corresponding to the instant altitude of'the craft so that in the Cruise mode of operation the aircraft may be maintained at that'altitude. The details of-the pitch-detent switch assembly are best illustrated inFigs. 6 and 7.

Figs. 11 through 15 illustrate the details of the roll gyroscope RG. This assembly comprises a main frame 58 of substantially channel shaped cross-section and of rectangular plan-form as best seen in Fig. 12. Bearings 59 and 60 disposed in coaxial relationship in the bight portions of the top and bottom channel sections of the frame 53 journal a gimbal 61 affording a vertically disposed pivot axis for the gyro gimbal; A hysteresis motor driven gyro motor 62 is journaled in the gyro gimbal 61 about a bearing axis substantially perpendicular to the axis defined by bearings 59 and 66. This latter axis is the rotor spin axis of the gyroscope while the axisdefined by bearings 59 and 60 is referred to as the precession axis of the gyroscope. In practice, this roll gyroscope is installed in the aircraft with the precession axis substantially paralleling the yaw axis of the aircraft and with the rotor spin axis occupying a position in a plane substantially paralleling the pitch axis of the aircraft. Hence upon rotation of the aircraft about its longitudinal axis the rotor spin axis is angularly displaced and the gyro processes in an attempt to align the rotor spin vector with the input torque vector in a direction determined by the direction of rotation of the gyroscope rotor with respect to the direction of the input torque.

Precessional movement of the roll gyroscope RG actuates a prod 63 which is carried by the gyro gimbal 61. Prod 63 constitutes the actuator of an aileron regulator electrical pickoif generally designated AR. This electrical pickoir comprises a pair of oppositely disposed stacks of normally open leaf spring contacts generally designated 64 having the actuator 63 disposed therebetween. Hence, upon precessional movement of the roll gyroscope RG in one direction or the reverse, the contacts 64 are selectively operated. These contacts control the aileron servo system yet to be described. The aileron regulator contacts are mounted between the sides of the channel section of frame 58 on the right side of the frame assembly as viewed in Fig. 12.

Means for applying torques about the precession axis of the roll gyroscope RG are provided therein. Such means are represented in the respective biasing magnet assemblies 66 and 67 which are mounted on the extremities of a support 67:: on opposite sides of the main frame. Each biasing magnet assembly comprises a pair of oppositely disposed electromagnets respectively designated 68, 69 and 7t 71. The respective assemblies are arranged in suitable housings secured in coaxially opposed relationship by means. of respective clamps 72 and 73 forming part of the support 67a.

The details of one biasing magnet assembly, for example, that designated 66, appear in Fig. 15. Each electromagnet comprises a cylindrical housing 75 which is engaged by a clamp 73. Such housing is provided with a concentric core section 76 provided with an enlarged circular end 77 which is utilized to secure the respective coil assemblies 78 against movement. The circular ex-v tremities 77 are disposed in spaced confronting relation:

' circular end sections 77.

ship and an annular armature 79 which is connected to the gimbal 61 by means of an arm 80 is supported in concentric relationship about the circular end sections 77 and straddling the airgap therebetween. The armature airgap 81 which is measured radially between the inner face of the armature 79 and the adjacent circular end 7 sections 77 is appreciably smaller than the airgap between rather than between the axially spaced faces of the respective cores 7d and housings 75 of the magnet system.

Although the displacement of the armature is of an angular nature about the precession axis of thegyroscope, the movement of the gyroscope about its precession axis is limited to such a small value that the armature motion may be construed to be essentially axial of the longitudinal axis of the electromagnet assembly. From this it will be appreciated that the radial airgap dimensions associated with either of the electromagnets is substantially unchanged bymovement of the armature and the variation in magnet'pull is practically independent of armature displacement. The biasing torques associated with either electromagnet are made a linear function of coil current by means of a polarizing flux and therefore do not follow the square law relationshipwhich exists with conventional unpolarized arrangements. As the consequence themagnet pull in linear with respect to coil currents and, hence, is linear with respect to operation of such instrumentality as may be controlling the coil current, minimizing calibration problems in the biasing control of the gyroscope assembly. Similar biasing schemes are utilized on the yaw and pitch gyroscopes in the control system.

Roll pendulum RP comprises a substantially rectangular mass 35 as seen in Fig. 13 which straddles the vertical and lateral dimensions of frame 58 and is provided with a pair of support arms 36 and 87 which are pivotally mounted on hearing extensions 88 and 8?, respectively, of bearings 59 and 69. As will be seen from the geometry of the roll pendulum, the centerof gravity is removed from its axis of pivoting which, as noted hereinbefore, substantially parallels the yaw axis of the aircraft. As a consequence the roll pendulum will sense lateral acceleration of the aircraft and upon tilting of its pixot axis from the vertical position, as by roll displacement of the aircraft and in the absence of centrifugal force, will rotate about the vertical axis under the influence of gravity. Hence if the aircraft is-in a turn which is not properly coordinated and slipping or skidding occurs, the roll pendulum R? will respond to the components of gravity and lateral acceleration acting thereon, in a direction dependingupon the resultant of these different forces.

Provision is made herein for detachably securing the roll pendulum RP to the gyro gimbal 61. in accomplishing this, an electromagnet assembly comprising a housing 91, depending through a suitable opening in pendulum support arm as, houses a coil'9'2 through the center of which a core 93, having a pointed bottom end, projects. The bottom end of housing 93 is disposed in closely spaced relationship with an armature 95 carried by a spring ht? which is secured to rotate with gyro glmbal 61. Armature 95 is provided with a tapered recess $7, the faces of which have a slope corresponding to the slope of the face of the pointed end of core 93. When coil 92 is deenergized, spring 96 maintains the spaced relationship between the armature and the core indicated in Fig. 12 and hence the pendulum is disconnected from the gyro gimbal asevyrso 61. When coil 92 is energized the armature is drawn upwardly as viewed seating the pointed end of core 93 in recess 97 thus locking the roll gyro gimbal to the roll pendulum. Thus the forces of the pendulum are combined as torques with the precession torque of the gyroscope utilized in controlling the actuator 63 of the aileron regulator pickolf arrangement.

The roll gyroscope RG with its attachments including actuator 63 and armature 95 as well as the armatures of the biasing magnets 72 and 73 is balanced about its precession so that the effects of gravity and lateral acceleration are neutralized. This is the condition in which the roll gyroscope R6 is utilized inthe Boost mode of operation of the autopilot system. In the Cruise mode of operation the electromagnet is energized which connects the roll pendulum to the gyro gimbal 61 to introduce the effects of the pendulum in obtaining coordinated control.

In'the autopilot system illustrated in'Figs. 2A andZB the application of the flight controller FC and the roll gyroscope R6 is diagrammatically illustrated. In these illustrations particularly with regard to the flight controller FC the essential components are illustrated at convenient points in the circuit network and the connection of such components with the respective axes are indicated by dotted lines representing the mechanical connections.

The system is designed for operation from the power supplies available on modern aircraft. in this connection the gyro motors and certain of the synchro elements utilized in the course control system are adapted for operation from a 400-cycle three-phase alternating current supply system. Some synchro elements and a discriminator circuit utilized in the course control unit are adapted for operation from a 400-cycle, single phase, 1l5yolt alternating current supply circuit. The servo system and control circuits are designed for operation from standard D. C. supplies which are available. It should be noted at this point that the system insofar as control circuit components and servos are concerned is merely representative of one class of equipment which may be utilized in such an arrangement. For instance, instead 'of the electric servos indicated, electrically controlled hydraulic servos may be employed for actuating the control surfaces of the aircraft. Similarly, while the system has been illustrated as being connected to a direction detector such as a flux valve compass system, or other similar system, it a will be appreciated that modifications may be madeadapting the system to control signals from radar equipment for automatic tracking purposes and from suitable radio 7 equipment of the type employed, for example, in instrument landing systems. 7

The system herein disclosed is essentially a three-channel arrangement in which each input may be regarded as the biasing system of the respective yaw; roll and pitch gyroscopes and the outputs represented in the outputs of the respective servos for driving the rudder; the ailerons and the elevators respectively. i

For the purposes of this discussion the direction of flight of the aircraft may be considered as from right to left, as viewed in Figs. 2A and 23. For the particular orientation of the gyroscopes indicated, the yaw axis of the craft occupies a position in the plane of 'the paper at right angles to the line of flight or longitudinal axis, and the pitch axis of the craft which is disposed laterally of the aircraft occupies a position substantiallyperpendicular to the plane of the paper. As earlier indicated for the purpose of analysis, these axes are presumed to be mutually perpendicular. Although the gyroscopes in this diagrammatic illustration of the system are separated, in practice it is customary to mount them on a single platformin the angular relationships indicated. This unit assembly of the gyroscopes 7 therefore forms a small compact assembly which may be properly oriented on the aircraft at some convenient location where space is available. 7

Circuit protective devices such as fuses and circuit 17 breakers and items such as power control switches and power supply units have been left out of the illustration in the interest of simplicity, the circuitry shown constituting the essential basic circuitry of the autopilot of this invention.

The autopilot is controlled by means of a mode selector switch which is generally designated MSS. This switch may be any suitable commercially available switch and is illustrated herein as comprising respective contact segments which are rotatably mounted and which selectively control the closing of switches SW1, SW2 and SW3 which establish the respective operating modes. Switch M88 is a four-position switch operable through the four positions indicated including Off, Standby, Cruise and Boost.

In the Oil position of the mode selector switch MSS the autopilot circuits are completely deenergized and the craft, if in flight, is completely under the control of the conventional controls provided in the aircraft.

In the Standby position switch SW1 is closed, which energizes a standby switch generally designated SS, closing its normally open contacts PS and GS. Contacts PS are the power contacts which apply direct current power to the autopilot circuits and GS is a gyro switch which applies alternating current to a single phase of three-phase converter PC constituting the three-phase power supply, the output of which is applied to the motors driving the respective gyroscope rotors. The output circuit connections are not shown in the interest of simplicity. Closure of switch GS also applies alternating current to components of the course control unit CU.

in the Cruise position of the mode selector switch MSS, contacts SW4 are closed, which energizes the coil of the coordinated control switch generally designated CCS. This switch is provided with a pair of normally closed contacts respectively designated i155 and Too. The rust of these is termed the elevator synchronize switch and the second is termed the turn synchronize switch. in the Standby position, when the switch CCS is deenergized, these contacts establish energizing circuits for the turn synchronize motor l SM and the pitch synchronize motor loM of the flight controller, the details of which wilbe described at a later point.

in the Boost position of the mode selector switch MSS the remaining set of contacts SW3 are closed. This completes an energizing circuit for the coil of a maneuver switch generally designated MS. This switch is equipped with normally closed contacts ACS comprising the altitude cut-out switch and which are utilized in the Boost mode to deenergize the coil of the altitude valve magnet AVM which is spring biased to open the altitude chamber ALT to the atmosphere. Normally closed contacts VRCS comprising the vertical rate control switch ar open when the maneuver switch MS is energized. This opens the biasing circuit and output circuit or the vertical rate control VRC to eil'ectively disconnect the vertical rate control function from the autopilot system. The normally closed contacts of the bank pendulum switch BPS are open in the Boost mode, deenergizing the bank pendulum magnet BPM which disconnects the roll pendulum RP from the roll gyroscope RG. Opening of the contacts of maneuver turn switch MTSl disconnects the transient coordinator TC from the roll gyro biasing coils xyl and x3 2, while closing of maneuver turn switch contacts MTSZ connects the output of the turn potentiometer Tly directly to coils TP! and TPZ of the biasing magnet system of the yaw gyroscope YG. Opening of contacts DRS of the delay rudder switch disconnects the transient coordinator TC from yaw gyro biasing coils xzl and x22. Opening of the contacts of the up elevator switch US disconnects the transient coordinator drive for the up elevator potentiometer UEP and, hence, removes the transient coordinators control of the elevators, and closing of the contacts of bank switch BS shunts resistor R11 in the circuit for roll gyro biasing coils EM and 1S BPZ to increase their sensitivity to the bank potentiometer BP.

Considering now the respective channels of the autopilot, the yaw channel includes the yaw gyroscope YG having a polarized biasing magnet system of the type illustrated in Fig. 15 and described in connection with the detailed description of the roll gyroscope. This gyroscope is provided with a plurality of biasing coils through which various command signals and feedback signals are fed to produce control torques about the procession axis thereof. These coils are all adapted for direct current energization, in circuits extending across the direct current supply conductors respectively designated B+ and The rudder servo includes a rudder regulator electrical picltoit generally designated RR having leaf spring type contacts as described in connection with the detailed description of the roll gyroscope RG presented hereinbefore. The respective leaf spring contacts of this assembly are connected in series with the respective resistors of groups and 101. The resistors of groups 100 and 101 are connected in parallel with opposite sides of the direct current power supply system and are connected to control the polarity and the degree of excitation of a rudder motor circuit controlling the armature excitation of rudder motor RM. The field RF of the rudder motor RM as will be observed is connected directly across the direct current power supply and, hence, is furnished with constant excitation. Consequently, the speed and direction of rotation of the rudder motor RM are determined by the magnitude and polarity of the voltage applied across the armature terminals of the rudder motor. The rudder motor RM is mechanically connected to drive the rudder R through a suitable mechanical linkage which may include a conventional cable drum arrangement or other suitable drive used in connection with electric type servos. Normally this mechanical drive between the rudder motor and the rudder is disconnected. When the mode selector switch MSS is in both the OE and Standby positions and is not connected until such time as the mode selector switch is moved to Cruise position. When mode selector switch MSS is in Cruise position the contacts SW2 complete a connection between the B-lconductor of the direct current power supply and conductor 1&2 to which one side or" the coil (3C1 of a clutch in the rudder drive is connected.

The rudder motor RM is connected as one leg of an electrical bridge circuit including resistor R1 in an adjacent leg. The tapped portions of potentiometer P1 constitute the remaining adjacent legs of this bridge circult. T he output terminals of the bridge circuit are represented in terminals 01 and 02, the latter of which is the tap on potentiometer P1. Voltage of one polarity or the reverse is applied across the terminals of potentiometer Pf. by the rudder regulator pick otf RR. The magnitude of the voltage so applied is determined by the magnitude of deflection of the flexible contacts which are successively engaged upon increasing deflection to successively insert resistors 100 or 101, in parallel in the energizing circuit for the bridge across the supply conductors 3+ and B-. The details of this circuit are not discussed in this application since they are not essential to an understanding of this invention. Further information on these details may be found in a copending application of C. R. Hanna et al., Serial No. 785,985, filed November 14, 1947 and entitled Control Systems for Dirigible Craft.

The rudder motor bridge circuit is electrically balanced against the D. C. resistance of the rudder motor armature when the rudder motor RM is not running. When a voltage is applied across the input terminals of the bridge circuit, the rudder motor RM begins to rotate to deflect the rudder of the aircraft. When this occurs, the counterelectromotive force increases, which increases the effective D. C. resistance of the'rudder motor armature,

zleargree the voltage across the rudder motor armaturebei'ng ap-' tem, which controls the outputbf the yaw gyro in such a way as to damp the operation of the rudder motor.

The yaw gyro YG is further-eontrolled in dependence of a voltage indicative of rudder position; Such a voltage may be detected either by anelectrical pick-off actuated directly from the ruddermotor drive as shown, or, may be producedby a pick-oi? geared. directly to: the rudder motor Thev pick-oi? herein shown is a potentiometer RP, the tapped portionsof which are connected as adjacentlegs of .a bridge circuit and the remaining two legs of which respectively including coils RPl and RP2ofthe yaw gyro biasing magnet system. This bridge circuit is energized across the direct current power supply conductors 13+ and B-. Thus, both velocity and position feedbacksignals are applied inthe rudder motor regulator loop toprovide adequate control.

Limits are imposed-on the magnitude of rudder de-- fiection by means of respective limit switches RLl and RLZ which are-geared in the rudder motor drive in such' a. way as to be selectively opened; by the cam actuator there-. for when the extremes of rudder deflection are reached. The switches are connected in the energizing circuits for the rudder motor bridge circuit and consequently, when. opened, deenergize the rudder motor.

The yaw gyro biasing magnet system is additionally controlled by a magnet polarizing voltage taken from the tap of rudder-trim potentiometer RTRP, the tapped portions. of which are connected as adjacent legs of an electrical bridge circuit connected across the direct current power supply conductors 13+ and B The remaining adjacent legs of this bridge circuit are formed by respective biasing magnet coils X21 and X22. Coils X21 and X22 arejadditi'onally energized by voltage appearing between an adjustable tap :c of a potentiometer TPx anda fixed tap z of av potentiometer These potentiometers comprise a portion of'atransient coordinator TC yet to be'described, andthe tapped portions thereof form adjacent legs of a'nfelectrical bridge circuit energized by the direct current power supply. The voltage appearing between taps x and z -is time: delayed, as will be ex plained, with respect to a voltage applied to control the ailerons of the craft in order to delayor suppress rudder defiection' until such time as bank angle has been accumulated. J

Yaw gyro biasing magnet coils TF1 and TF2 are connected in adjacent legs of a bridge circuit including the tapped portions of a turn potentiometer TPy which, as earlier described herein is actuated by. rotation'of the control stick CS of the flight controllerFC. The voltage at adjustable tap y of'the turn potentiometer controls the relative magnitudes of excitation of biasing magnet coils L T1 1, TF2, TF3 and TPd depending upon the direction of unbalance of the bridgeeircuit by movement of the ad justable tap y. These coils in addition to applyingjbiasing torques also polarize the yaw gyro biasing magnet system. .1

Coils 8V1 and SVZ are. connectedv in series; across the output terminals ()3 and T 2" of; an "electrical bridge cir-; cuit including the armature winding of aileron motor AM. This bridge circuit includesal'resistor R2; as an;

ti'ometerlZA having the tap This bridge circuit is similar to that described in connection with the rudder servo motor RM'and is normally balanced when the. aileron servo motor AM is not running. The voltage appearing across the output terminals 03 and T2 and which energizes coils SVI and 8V2 of the yaw gyro YG, is, therefore, a voltage proportional to the velocity of. the aileron servo motor AM. The control of the yaw gyro output afforded by coils SVl and 8V2 is arranged to minimize skidding or side slipping of theaircraft due. to insufficient application or over-application of the rudder R. T his voltage is referred to herein as a skid voltage which tends to coordinate the movement of the aircraftv about its yaw and roll axes to produce a coordinated turn.

The turn synchronize motor TSM, which drives the; control stick CS about its yaw axis in the Standby mode of autopilot operation, is connected in parallel with the armature of the rudder motor RM during the Standby mode of operation by the normally closed turn synchronize switch TSS which is on thecoordinated control, switch C CS, Motor TSM has its armature winding connected as an adjacent leg in an electrical bridge. circuit with resistor RltLthe remaining two legs of which, are represented in the tapped portions of a resistor R11. This bridge circuit, as in thercase of the, rudder servo motor. bridge circuit, is electrically balancedagainstv theD. C.. resistance of the, armature winding, of the, turn syn.

' chronize motor TSM, when the turn synchronize motor.

TSM is not running. Consequently, the output of this; bridge circuit, which is appliedto: coil TSD of the yaw gyro biasing magnet, is proportional to the velocity of.

operation of the. turn synchronize motor TSM and is fed.

into the. regulator loop, of the rudder motor to act as. a damping control therein. chronize motor TSM is responsive to the rubber motor armature voltage, this damping control stabilizes: the fol-' low-up operationof the turn synchronize motor TSM in the Standby mode. of operation.

.Coils GUI and CU2, which are the remainingcoils of the yaw. gyro biasing magnet system, are polarized by coils TP3 and TF4 on the lower magnet and areenergized by the electrical output of the course control unit generally designated CU. The control of yaw, gyro output afforded by coils C111 and CU2 adds a position or directivity sense to. the velocity senseof the yaw gyro YG tending to maintain a control on the rudder of the aircraft such asto held. thecraft ontixed courseduring theCruise mode. of: autopilot operation. The details of the course control unit. CU: willbe explained at a later point.

Continuing the discussion of the. three channels of the autopilot, the aileron. channel-includes the roll gyro-RG, the .outputofr" which is sensed. by the aileron regulator elec-- trical pick-off ARasindicated by the mechanical connecti -n thereof with the precession axis .of the roll gyro RG.

adjacent leg in the bridge with the armature. oftheaileron 7 The aileron regulatorpick-ofi, as in the case of the rudder regulator pick-off, includes the respective groups .ofcontrol resistors 103. and 1&4. whichare selectively connected in parallel inthepower supply circuit for the aileron servo motor bridge circuit. Thefunction. of this circuitwill be. understood in connection with the above description ofi operation of the rudder servo motor'bridge circuit. The. output of theaileron servo motor AM is connected m'echanically to the drive for the. aileron A. This drive is controlled by. a clutch having a coil CC2 which, like the rudder servo clutch CCI, also depends for its energization upon energigation of conductor 102. i

As in the case of theyaw gyrojbiasing magnet system, both velocity and position feedbackfrom the aileron motordrive are applied to biasing coils of the roll gyro plied to series/connected rolL gyro biasing, coils AVl and.

AMI. The positionfeedbaclci is; obtained frorn; the ont put of an electrical bridge circuit including the tapped Inasmuch. as the: .turn syn portions of potentiometer AP, the tap of which is actuated by the aileron drive. The remaining adjacent legs of this bridge are represented in roll gyro biasing coils APl and AP2, and the bridge is connected across the direct current power supply conductors B+ and B. The relative magnitude of excitation of coils API and APZ depends upon the position of the tap of potentiometer AP.

Polarization and balance trimming of the roll gyro biasing magnet system is obtained by suitable excitation of coils BPl and BP2 forming adjacent legs in a bridge circuit energized across the direct current power supply and having for its remaining adjacent legs the tapped portions of a bank trim potentiometer BTRP.

A coordinating control voltage from the transient coordinator TC, during the Cruise mode of autopilot operation, is applied to series connected coils XYl and XY 2 connected between the taps x and y of potentiometers TP); and TPy which are connected in bridge circuit relationship and in which the taps x and y represent the output terminals. This latter bridge circuit is also energized by the direct current power supply.

A cross-feed from the rudder channel for coordinating control purposes is applied to roll gyro biasing coils BV1 and BV2 producing a control tending to cause roll velocity in correspondence with rudder rate. This is accomplished by connecting coils BV1 and BV2 between a tap T1 of a potentiometer PTA paralleling potentiometer P1 in the rudder motor bridge and the tap 01 of the rudder motor bridge. The voltage appearing between tap T1 and terminal O1 is proportional to rudder motor velocity and may be varied as to magnitude to provide suitable control by adjustment of tap T1.

As earlier described herein, the roll gyro RG includes a roll pendulum RP which is pivotally mounted about the precession ms of the roll gyroscope RG and adapted for connection and disconnection with the gimbal of the roll gyroscope RG by means of a bank pendulum magnet BPM. The armature 95 is spring loaded to a position in which it disengages that portion of the bank pendulum magnet which is mounted on the roll pendulum RP. When the roll pendulum RP is deenergized, for instance, as is the case during the Boost mode of operation, the physical connection between the roll pendulum RP and the roll gyroscope RG is broken, and consequently, the roll gyro RG, which is balanced about its precession axis, responds only to roll rate. However, in the Cruise mode of operation, when the maneuver switch MS is deenergized and the contacts of the bank pendulum switch BPS are closed, the coil of the bank pendulum magnet BPM is energized, physically engaging armature 95 with the roll pendulum RP to unbalance the roll gyroscope RG about its precession axis and introduce sensitivity to lateral acceleration and roll angle.

The pitch channel of the autopilot, with regard to the elevator servo motor circuitry, is similar to that as described in connection with the rudder and aileron channels, the elevator motor EM being connected as a leg of a bridge circuit having output terminals 05 and O6 and including a resistor R3 and the tapped portions of a potentiometer P3 as the remaining legs. This bridge circuit is controlled by selective control of resistor groups 105 and 1% constituting part of an elevator regulator electrical pick-off ER which is mechanically connected to and detects precessional movement of pitch rate gyroscope PG. Limit switches ELl and ELZ in the energizing circnit for the elevator servo motor bridge establish the physical limits of elevator deflection and the mechanical connection between the elevator servo motor EM and elevator E is controlled by a clutch, the coil CC3 of which is energized at the time of the D. C. power supply is connected to conductor 102. The function of this portion of the control will be understood in connection with the description of the rudder servo motor and clutch control.

The lower section of the biasing magnet system of the pitch gyroscope PG includes a set of polarizing coils PPl and PPZ connected in bridge circuit relationship with the tapped portions of an elevator trim potentiometer ETRP and energized in dependence of the setting of the tap of the elevator trim potentiometer ETRP. This latter bridge circuit is energized by connection across the direct current power supply. These coils are additionally controlled by a voltage tapped from pitch potentiometer PP actuated by movement of control stick CS of flight controller FC about its pitch axis. Pitch potentiometer PP is also connected across the direct current power supply and its tapped portions, in effect, also form an electrical bridge including coils PH and PP2 in adjacent legs.

As in the case of the yaw gyro biasing magnet system, coils of the pitch gyro biasing magnet system are controlled by both velocity and position feedbacks from the elevator servo system. The electrical unbalance of the elevator servo motor bridge circuit appearing across output terminals 05 and O6 is applied across coil BV1 of the pitch gyro biasing magnet. Coils EPl and BP2 are connected as adjacent legs of a bridge circuit including as the remaining adjacent legs the tapped portions of elevator position potentiometer EP, the tap of potentiometer B? being utilized to control the relative magnitudes of the voltages appearing on coils EPl and BP2.

The pitch synchronizing motor PSM on the flight controller PC, in a manner corresponding to the connection of the turn synchronizing motor TSM, is connected across the armature terminals of the elevator servo motor EM. This circuit extends through the normally closed contacts of elevator synchronize switch ESS on coordinated control switch CCS. The armature winding of the pitch synchronize motor PSM is connected as an adjacent leg with resistor R12 in an electrical bridge circuit including the tapped portions of resistor R13 as the remaining adjacent legs. The output of this bridge circuit is applied across a coil EVZ in the pitch gyro biasing magnet system to introduce a control in the elevator servo loop and, hence, a control or" the pitch synchronizing motor PSM, which is responsive to the elevator servo motor armature terminal voltage. This control is of such character as to stabilize the operation of the pitch synchronizing motor PSM to cause accurate follow-up of elevator position, for example, in the Standby mode of operation.

Coils UEPI and UEPZ of the pitch biasing magnet produce tip-elevator control for the pitch servo during the Cruise mode of operation. This up-elevator control is tapped from an up-elevator potentiometer UEP, the terminal ends of which are connected to the negative side of the direct current power supply and the tap of which is connected through a calibrating resistor R7 to the positive side of the power supply. With this arrangement, movement of the tap of the up-elevator potentiome'ter from the electrical mid-point thereof produces voltages of varying magnitudes depending upon the setting of the tap but of the same sense, that is, no polarity reversal occurs. Coils UEPi and UEPZ are energized in dependence of the voltage tapped from the up-elevator potentiometer in a circuit extending through the contacts of tip-elevator switch US which are closed when the maneuver switch MS is deenergized, which is the case in all positions of the mode selector switch MSS, except the Boost position. Hence, in the Cruise mode of operation, a circuit is established whereby up-elevator control of the elevator servo is obtained for either direction of turn. This is accomplished by driving the tap of the upelevator potentiometer UEP from control motor CM of the transient coordinator TC. The character of the control in coordinating up-elevator application with the aiieron and rudder control to produce equilibrium in a turn will be understood in connection with the discussion of the transient coordinator which appears at a later point.

The remaining coils of the pitch gyro biasing magnet system are designated VRS and VR6. These are polarized by coils EP3 and EP4 and are controlled in such a the elevatorservo system;

its output in response to the larger course. error.

way output of an ialtitude or' vertical rate q ntro'll ystem ,1 VRC'ja to m o o pitch t tu through-the pitch rate gyro biasing system to. maintain a relatively fixedaltitude of the craft'during the Cruise mode of operation of the autopilot; The control imposes a directivity sense and a velocity .sense'in elevation on the pitch servo system to supplementthe pitch angular rate control of the pitch-rate gyroscope for controlling The course control unit'CU is under the control of a suitabledirection indicator vDL. Such a direction indicator may be a conventional fluxlvalve compass system which normally includes a'flnx valve compass arrangement controlling the outputot' a gyroscope functioning as a filter in the compass system These details being conventional. are not shown: The-mechanical outputof the filtering gyroscopefdrives the rotor element 'of aingle-phase synchro transmitter ST. The rotor of this transmitter is energized from the single-'phase 400 cycle power supply indicated andthe'output voltage represented in the three-wire connection of the transmitter ST with a synchro diiierential SD is of a pattern which indicates an error in heading of the craft.

' Two modes of operation are obtained from the synchro difierential. Inone mode, in which brake relay B is deenergized as indicated, the output circuits of the synchro difierential' are short circuited by contacts B2 of the brake relay, and the remaining circuit of the output circuit of the synchro differential is connected to the single-phase supply of alternating current through the now closed contacts B1 and an autotransformer AT, which latter determines the magnitude of the energizing voltage of the synchro differential winding. With this connection, the

rotating voltage pattern applied to the synchro difierential from the synchro transmitter ST'produces a torque due to flux linkage with the now energized windings of the output circuit of the synchro difierential to drive the rotor of the synchro differential in such a direction as to reduce to zero the induced voltage in the output circuits. due to the rotating input voltage pattern.

In effect, the synchro differential functions as a course repeater tending always to index the main'induction axis of its rotor with the main axis of the field. This corresponds to indexing of the rotor with the instant heading ofthe craft as indicated by the output voltage pattern of the synchro transmitter ST. This type of operation exists in: the Standby mode of autopilot operation when the aircraft is being flown by the standard or conventional controls in the craft, and, therefore, the course unit is properly indexed to take over the control of the craft when the Cruise mode of operation is selected.

This type of operation also occurs during the Cruise mode of operation when the pilot desires to change course and manipulates the control stick CS of the flight controller FC. The details of this will be described in connection with the operation of the system.

In the Cruise mode of operation, when the control stick CS of the flight controller is in yaw detent, the brake relay B is energized. This locks the rotor of the synchro difierential and applies the output of the synchro differential to abridge including resistors R6. Resistors R6 are a current sensitive and their resistance decreases, as the current through them increases. The bridge circuit of which they form a part is normally adjusted for maximum .unbalance when the current level is at itsminirnurn value. This corresponds to a small error in heading of the craft. For a larger error in heading of the craft, the electrical output of the synchro difierential increases. J This increase in current decreases the ohmic value of resistors R6 driving the bridge circuit towards balance. and limiting The objectin this, in; commercial air. liner installations, is to minimize the magnitude of heading correction .so as to minimize; passengen discomfort. disproportional re,- lationship is feasible because, in the suggested applicaasserts 24 tionfitiis nofiabsdlutcly' necessaryto correct course head-i ing in proportion'to the actual error, it being only necessary to maintain the error in s uflicfcnt'amount to urgethe ,craft back; to proper heading at all times.

fTheioutp ut qf the course error 'bridg'e'circuit' is applied" t rim yiw a i c r r r 1 the tapped portions of' the secondary-of which are connected as ad-- jacent legsot an electrical bridge circuit, including thetapped portions. of a potentiometer P4 as the remaining adjacentkgs. T11liS,"iih6b1'idg eCiICUit has applied there-- to a voltage of such'phase asis; indicative of the direction of departure'ofithe aircratt from a given heading. Inasmuch 'asthisvoltage is derivedfrom the; system energizedfrom. thef i40 0cycl'e supply, the frequency of this voltageco'rresponds'to the4Q0cycle supply'voltage. The error' in hea g; of cratt may, therefore, be determ e y p r son. .q it e phas o th alternating,

' current voltageyindicat'iveof course error with. the phase.

of the 400. cycle supply; voltage; In this circuit, this. is accomplished by inserting the 400 cycle supply voltage between the taps 'of the secondary winding of transformer TRl and the, tapof potentiometer P4. A transformer TRZ having its'primary' connected with the 400 cycle supply voltage and its secondary winding connected in series with a calibratingresistor R5 between the men tioned taps introduces the reference voltage into this discriminating circuit.

The output of the discriminating bridge. circuit controls a'vacuum tube 48 having two plate circuits generally des ignated 48a and 48b connected through a suitable filter circuit including a capacitor. 482, and inductors 48c and 48d to output circuits CUIC and CUZC which are connected to coilsCUl and CU2v of the yaw gyro biasing magnet system. These plate: circuits are connected in parallel with the positive side, of the directcurrent power supply and the cathode 48k is' connected to ,the negative side of the direct current power-supply. Screen grid 48f is connected to the positive side of the direct current power supplywhilecontrol grids 48gand 48h are connectedto the'respective output terminals ofthe; electrical bridge. r a a By way of illustration but notlimitation, the tube 48 in this application may be a Sylyania tube identified in their catalog. of tubes as 28137. The tube is used in most applications with a D. C. voltageofZS volts and a heater or filament voltage of 28' volts. However, it appearsthat this tube isprobably a special adaptation ot a standard tube, the particular number of which is unknown to the applicants and which. was originally designed for use on circuits of .volts and more. Reference to the tube characteristic inthe Sylvania technical manual indicates thatplate voltages up to volts and in a few instances as high as 200 volts may be used on this tube. In such applicationsflhe tube normallyoperates at temperatures which are quitehigh, but it is desi ed to withstand these high operating temperatures. The 28 volts used in this application on the plate circuit is. considerably lower than'the platev voltage which apparently may be normally applied to the tube. As a consequence, in order to achieve higher tube output, thegrids are driven positive by the 'applicationof a positive biasing voltage to the tube. The gridvoltage which is applied to the tube throughfthe center tapconnection of the potentiometer is .not sufiicientlyhigh to produce grid current of this order sinceeach leg of the; potentiometer is'rated at least /2' megohm. Thus; it will be appreciated that the V smallest grtd'current'fiowingthrough either leg of the bridge must ,fiow through aresistance of at least megohm, discounting the grid' to cathode resistance of the tube; on thisbasis; grid current, due-to the'positive assures 25 bias applied through the tap of potentiometer P4, is approximately 0.04 milliamps.

This class of operation of the tube probably drives the tube well into saturation, but in this particular application, tube saturation is not objectionable because distortion in the output of the tube is of little or no consequence insofar as the control to be accomplished is concerned.

The discriminating circuit shown is one of numerous well-known arrangements suitable for this application.

Directivity in the roll channel, as earlier noted, is achieved by connecting the roll pendulum RP to the roll gyro gimbal 51. The explanations hereinbefore made in connection with the detailed description of the roll gyroscope R6 are believed suflicient to cover the function of the roll pendulum in the system.

The altitude-vertical rate control system VRC comprises an altitude chamber ALT which is opened and closed by an altitude valve magnet AVM. The coil of the altitude valve magnet AVM is connected across the direct current supply by means of a pitch detent switch S6 and the altitude cut out switch ACS on maneuver switch MS. These switches are normally closed, the altitude cut out switch being closed in all modes of operation except Boost, and the pitch detent switch being closed whenever the control switch CS of the flight controller is in pitch detent, that is, is in its neutral position. The altitude chamber is provided with a flexible diaphragm 110 which is deflected in dependence of the differential pressure between the air trapped in the altitude chamber when the altitude valve magnet AVM is closed and the static pressure at the instant altitude of the aircraft. The resulting deflection of the altitude diaphragm 110 is applied through a suitable mechanical connection to a pivoted iever 111 which at its upper end mounts a ringshaped armature 112 of the biasing magnet system for the vertical rate control system, and, at its lower end mounts a movable contact VR selectively engaging respective contacts VR1 and VRZ constituting the vertical rate control electrical pick-off. The biasing magnet system of the vertical rate control is similar in principle to that described in connection with the roll rate gyroscope, as illustrated in Fig. 15, resulting in a magnet pull which is linear with respect to the net coil current to obtain linear control of the contacts of the vertical rate control system electrical pick-off.

The pivotally mounted lever 111 is additionally controlled by means of a force taken from a diaphragm 113 forming part of the altitude or vertical rate chamber ALTR. This chamber is vented to the atmosphere through a restricted opening 114 which may, for example, be of the character of a capillary opening. Inasmuch as this capillary restricts the passage of air into and out of the altitude chamber, the pressure drop thereacross will be proportional to the rate-of-change of static pressure such as, for example, exists in a climb or in a dive. The force exerted by diaphragm 113 on pivoted lever 111 is, therefore, proportional to the rate-of-change of static pressure which is proportional to the rate of change of altitude. Hence, the mechanical forces representative of absolute altitude and rate-of-change in altitude are combined in the pivoted lever 111 to cause displacement thereof for controlling the electrical pickh.

The biasing magnet system for the altitude or vertical rate control system includes a pair of coils VPl and VPZ which are selectively energized depending upon which of contacts VRl or VRZ at the electrical pickoff are engaged by moving contact VR. This coil circuit is traceable from either the positive contact VRl or the negative contact VRZ, through the contact VR to the contacts of the vertical rate control switch VRCS on the maneuver switch MS, through a calibrating adiustable resistor R15 to a point between coils VR3 and V134 which are connected in series across the direct cu rrent power supply. By this expedient, the coils are se lectively energized to cause biasing of the armature 112 one direction or the reverse, and the magnitude of the bias is determined by the contact current. For example, if the physical biases on lever 111 are such as to engage contact VR with contact VRI, which is the positive contact, a circuit is established from the positive conductor through contacts VRl and VR, through contacts VRCS, assuming the maneuver switch is deenergized, through resistor R15 and through coil VH4 to the negative side of the line. The excitation of coil VR4 is related to the excitation of the remaining coils on that magnet in such a way, for example, as to cause the net excitation and, hence, the biasing magnet flux to produce.

a magnetic torque on lever 111 which is opposed to the physical torque due to the diaphragm forces of the al-.

'tude and the altitude rate chambers. From this torque opposition, a hovering condition is established between contacts VR and VRl which causes minute opening and closing of the contact circuit. As a consequence, an average direct current flows in the circuit which is indicative of the physical torques acting on the pivoted lever. Thus, the current flow in the loop is indicative of the rate of change of altitude and of the altitude which exists at any instant.

Coils VP1 and VP2 are polarizing coils for the biasing magnet system and are connected in bridge circuit relationship with the vertical rate control trim potentiometer VTRP. This bridge circuit is energized across the direct power supply, and the adjustable tap on the vertical rate trim potentiometer VTRP is used to establish magnetic equilibrium when the altitude is not changmg.

Coils CDP1 and CDiZ are the remaining coils in this biasing magnet system. These coils are connected in bridge circuit relation with the climb and dive potentiometer CDP which is on the flight controller FC and actuated by movement of the control stick CS about its pitch axis. The unbalance voltage in the bridge, which is determined by positioning the tap at some point displaced from the point of electrical equilibrium in the bridge, controls the net excitation of coils CDP1 and CDPZ in such a Way as to introduce a magnetic bias on the lever 111 indicative of the magnitude and the direction of the displacement of control stick CS about its pitch axis.

Considering only the vertical rate chamber in this analysis, the magnetic bias establishes a connection between the contact VR and either of contacts VRI and VRZ. The output of which, as earlier described, controls the net excitation of coils VRS and VRG on the pitch gyroscope PG which correspondingly controls the elevator servo ES which deflects the elevator and establishes an angular rate of the aircraft about the pitch axis. This angular rate is sensed by the pitch gyroscope PG which produces a precessionai torque which opposes the magnetic torque produced by coils VRS and VR6, and hence, establishes an angular rate in pitch corresponding to the position from detent of the control stick CS about its pitch axis. Thus far in this analysis, the control stick displacement in pitch has established a given angular rate in pitch.

An angular rate in pitch causes the aircraft to climb or dive. The resulting rate-of-change of altitude is sensed as a pressure rate by the diaphragm of the altitude rate chamber. The diaphragm 116 acting on lever 111 controls the current flow at the electrical pick-off of the altitude rate control. This further regulates the bias acting on the pitch-rate gyroscope PG in such a way that the angular rate in pitch diminishes and actually becomes zero and maintains only such elevator deflection as will produce a pressure rate torque on pivoted lever 111 which.

is in approximate equillibrium with the magnetic torque acting thereon. Thus, the position of the control stick CS about its pitch. axis establishes a given vertical rate and responds to the instantstatic pressure.

forces of the altitude and the altitude-rate diaphragms' are combined in lever 111 in such a way that the altitude- V movement of lever 11 1.

s eaves the angle of' climb on dive control stick CS about its pitch axis.

In this operation, the altitude chamber'ALT is opened to theatmosphere because the instant that the control stick CS is moved about its pitch axis, thepitchdetentswitch S6 is opened which deenergizes the spring loaded altitude valve magnet AVM. The force ofthe altitude diaphragm 110 is thereby removed from lever111 since the internal pressure of the altitude chamber now -cor-- Normally, the

rate diaphragm ,force tends to anticipate and damp the The force which the altitude diaphragm 110 may exert on lever 111 may be limited by a loaded spring 120 disposed in the linkage between the altitude diaphragm llii and pivoted lever 111. The

voltage in response to a voltage initiated at the control stick.v In accomplishing this, the motor CM'of the trait-- sient co-ordinator TC is' energized by the output of the transientcoordinator electrical pick-off which comprises stationary contacts CR1 and CR2 which are respectively connected to the positive and negative sides of the direct current power supply and movable contact'CRS which is actuated by the unbalanced torque of a pair of opposedel'ectroma gnetic devices. 7

The electromagnetic devices comprise respective polarizing; coils C3 and C4 which are connected in series across thedirect current power supply. 'These coils establish the base fiux of the opposed magnets. Coils XY 3 and YX4 are energized in dependence of the difierential betwecnthe' voltages of taps x and y of potentiometersTPx and TPy' respectively. These potentiometers are both connected across the direct current power supply,- and since the coilsXY3 and XY4 are connected between thetaps, the arrangement is essentially an electrical bridge circuit in. which the coils are energized by the unbalance voltage of the bridge. The remaining coils of the opposedmagnets ofthe transient co-ordinator TC comprise coils CV1-and CV2 which are connected across thef'output terminals of an electrical bridge circuit including the control motor CMas one leg and resistor Rltllas the ad-' jacent leg. The tapped portions of potentiometer Pld constitute the. remaining zadjacent legs of this bridge cirwit. The bridge'circuit is connected between movable contact. CR3fand a tap on voltage divider resisto'rRlO'? which is connected across the direct current supply. The

polarity ofcenergization depending upon which of contactsiCRlior CR2;.is engaged by moving contact CR3.

Asdescribed' in connection with the rudder servo motor bridge 'circuit,.it will be appreciated that the voltage.

appearingacross the series connected coils CV1 and CV2 is proportional to the velocity of operation of the control motor CM. This voltage is fed back in such away as to stabilize the electrical pick-oft of the transient co-ordinator.

As will be apparent from/the circuits and as noted earlier herein, thevolta'ge between taps x and y is applied to coils XY1 and XY 2 ofthe roll gyro biasing magnet sys tem. This initiates operation of the aileron servo to produce hank velocity at the instant'the control stick CS of the flight controller. FCllS rotated to command a turn. This rotatiomdisplaces the tapy oi potentiometer TPy from its positioncorrespondingto that of the tap xof. potentiometer. TPx. T he voltage difierential existing at that :instantiis; appliedtor CDllS5XY3 and XY; of the I'transient coeordinator biasingrnagnetso'lhis actuates the else for a given; air speedis ad; 'justed by the combined effects of'the vertical rate control system VRC and the pitch gyroscpoe PG to establish the vertical rate commanded by the position of the trical pick ofi of: the transient coordinator'TC and. enerl gizes the control motor bridge. circuit. Due to themeohani'calfconnection-of' the rotoriof'. the control motor CMwith the tap x of: potentiometer TPx; the tap x is caused: to follow. the :tap' y. to a point: onitheT-Px potentiometer atiwhichtl'iei-x voltage matchesthe' y voltage in an effort totreduce theixy voltage to zero; Since operation of the control motor CM depends upon the xy voltage,,the

control motor CM is:correspondingly. controlled.

Inasmuch as coils XZ1.Jand .XZ2' are connected as ad jacent legs of a bridge with the tapped portion of potentiometer TPx as. the remaining adjacent legs and since tap :x is: connected between these coils, movement of tapx from, the electrical midpoint of. potentiometer TPx producesx'a. difierentialvoltage. between the. X21 and X22 coils. Atthe time. the control'stick of. the fiightcontroller FC bank angle: may be-accumulated. Immediately, thescontroli motor CM which is responsive to the xy voltage,.' begins to operate, drivingrthe tap x in a. direction to re- This change in voltage of tap x1 duce' the xy voltage. appearsas net excitation on coils XZIL. and X22 of the yaw gyroscope YG, thefunction ofwhich'is to establishi turn rate bias incorrespon'dence with instant angles-of? bank so that co-ordination in a turn may be realized.

Thus far, coordination of control in roll and yaw by' the transienfcoordinator TC has been discussed. The control voltage-of tap x may be utilized, if desired, on a'setof coils (not shown) on the pitch biasing magnet-- system functioning in a similar capacity to the'coils XZIv and'XZZ on the yaw gyro biasing magnet system. However, the fluxes produced by these coils, as the polarity" of the tap x voltage becomes more negative or more positive with respect to the voltage at-the midpoint, would have to be such as to cause the servo to produce upelevator for either condition. This may be accomplished by properly relating the ampere turns of such a set of coils 'to the polarizing ampere turns in the biasing magnet system.

' However, inasmuch as the rotation of the control motor CM, which'produces the changing tap -x voltage, is proportional thereto, this motor rotation mayv be util-- iz'edtodrive potentiometer UEP, which is the up-elevator potentiometer described previously and which controls the up-elevator'biasing coils- UEPl and UEP2 of the pitch gyro biasing magnet system. 7 Since the polarity oftlieup-eleVator potentiometer voltage remains the same fo'reither direction of rotation, the problem of flux polarization'in'the-pitch biasing magnet system is minimized and'up-elevator is conveniently achieved in this manner.- fInfthe coordinated turn, the altitude and alti-' tude rate-control function to'maintain the altitude of the craft' by introducing-additional corrections, through the pitchgyroscopePG into the pitch servo driveto correct elevator position, if needed, 'fromthat established by movement of the up-elevator 'potentiorneterto maintain fixed-altitude: 1 1

' According to one method ofoperatiomthe craft may 7 be-fiownby'the humanpilotfromtake ofi'to the desired altitude. After the craft is on a fixed heading, which the autopilotis' to maintain, themode; selection switch' MSS may be switched frorn'Oftto Standby position, if not already'in theStandby-position. In-the Standby position, switch SW1 is'closed andis maintained closed throughout the cruise and boost'modes of operation. Closure of switch "SW1 enrgizesthe standby switch" SS, closing the contacts offthe C." power :swit'ch- PS and the contacts of --the' gyro swit'ch' GS The latter contacts apply alter-' hating l current to the phase" converter RC and" to the course control unit' CU. With" theseconnedtions; the? electroni'c components of 1 the system are heatectand "the" 

